Driver for AK7451 Angle Senor(SPI).
Fork of AK7451 by
ak7451.h@0:56b554871e05, 2016-04-28 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Thu Apr 28 19:20:32 2016 +0000
- Revision:
- 0:56b554871e05
- Child:
- 1:536cf25b0eb4
First commit;
Who changed what in which revision?
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masahikofukasawa | 0:56b554871e05 | 1 | #ifndef AK7451_H |
masahikofukasawa | 0:56b554871e05 | 2 | #define AK7451_H |
masahikofukasawa | 0:56b554871e05 | 3 | |
masahikofukasawa | 0:56b554871e05 | 4 | #include "mbed.h" |
masahikofukasawa | 0:56b554871e05 | 5 | |
masahikofukasawa | 0:56b554871e05 | 6 | /** |
masahikofukasawa | 0:56b554871e05 | 7 | * This is a device driver of AK7451. |
masahikofukasawa | 0:56b554871e05 | 8 | * |
masahikofukasawa | 0:56b554871e05 | 9 | * @note AK7451 is a high speed angle sensor IC manufactured by AKM. |
masahikofukasawa | 0:56b554871e05 | 10 | * |
masahikofukasawa | 0:56b554871e05 | 11 | * Example: |
masahikofukasawa | 0:56b554871e05 | 12 | * @code |
masahikofukasawa | 0:56b554871e05 | 13 | * #include "mbed.h" |
masahikofukasawa | 0:56b554871e05 | 14 | * #include "ak7451.h" |
masahikofukasawa | 0:56b554871e05 | 15 | * |
masahikofukasawa | 0:56b554871e05 | 16 | * |
masahikofukasawa | 0:56b554871e05 | 17 | * int main() { |
masahikofukasawa | 0:56b554871e05 | 18 | * // Creates an instance of SPI |
masahikofukasawa | 0:56b554871e05 | 19 | * } |
masahikofukasawa | 0:56b554871e05 | 20 | * @endcode |
masahikofukasawa | 0:56b554871e05 | 21 | */ |
masahikofukasawa | 0:56b554871e05 | 22 | class AK7451 |
masahikofukasawa | 0:56b554871e05 | 23 | { |
masahikofukasawa | 0:56b554871e05 | 24 | public: |
masahikofukasawa | 0:56b554871e05 | 25 | |
masahikofukasawa | 0:56b554871e05 | 26 | /** |
masahikofukasawa | 0:56b554871e05 | 27 | * Available opration modes in AK7451. |
masahikofukasawa | 0:56b554871e05 | 28 | */ |
masahikofukasawa | 0:56b554871e05 | 29 | typedef enum { |
masahikofukasawa | 0:56b554871e05 | 30 | AK7451_NORMAL_MODE = 0x0000, |
masahikofukasawa | 0:56b554871e05 | 31 | AK7451_USER_MODE = 0x050F, |
masahikofukasawa | 0:56b554871e05 | 32 | } OperationMode; |
masahikofukasawa | 0:56b554871e05 | 33 | |
masahikofukasawa | 0:56b554871e05 | 34 | /** |
masahikofukasawa | 0:56b554871e05 | 35 | * Status of function. |
masahikofukasawa | 0:56b554871e05 | 36 | */ |
masahikofukasawa | 0:56b554871e05 | 37 | typedef enum { |
masahikofukasawa | 0:56b554871e05 | 38 | SUCCESS, /**< The function processed successfully. */ |
masahikofukasawa | 0:56b554871e05 | 39 | ERROR, /**< General Error */ |
masahikofukasawa | 0:56b554871e05 | 40 | ERROR_IN_USER_MODE, |
masahikofukasawa | 0:56b554871e05 | 41 | ERROR_IN_NORMAL_MODE, |
masahikofukasawa | 0:56b554871e05 | 42 | ERROR_PARITY, |
masahikofukasawa | 0:56b554871e05 | 43 | ERROR_ABNORMAL_STRENGTH, |
masahikofukasawa | 0:56b554871e05 | 44 | } Status; |
masahikofukasawa | 0:56b554871e05 | 45 | |
masahikofukasawa | 0:56b554871e05 | 46 | /** |
masahikofukasawa | 0:56b554871e05 | 47 | * Constructor. |
masahikofukasawa | 0:56b554871e05 | 48 | * |
masahikofukasawa | 0:56b554871e05 | 49 | */ |
masahikofukasawa | 0:56b554871e05 | 50 | AK7451(); |
masahikofukasawa | 0:56b554871e05 | 51 | |
masahikofukasawa | 0:56b554871e05 | 52 | /** |
masahikofukasawa | 0:56b554871e05 | 53 | * Destructor. |
masahikofukasawa | 0:56b554871e05 | 54 | * |
masahikofukasawa | 0:56b554871e05 | 55 | */ |
masahikofukasawa | 0:56b554871e05 | 56 | ~AK7451(); |
masahikofukasawa | 0:56b554871e05 | 57 | |
masahikofukasawa | 0:56b554871e05 | 58 | /* |
masahikofukasawa | 0:56b554871e05 | 59 | virtual AkmSensor::Status init(); |
masahikofukasawa | 0:56b554871e05 | 60 | virtual void eventCallback(); |
masahikofukasawa | 0:56b554871e05 | 61 | virtual bool isEvent(); |
masahikofukasawa | 0:56b554871e05 | 62 | virtual AkmSensor::Status startSensor(); |
masahikofukasawa | 0:56b554871e05 | 63 | virtual AkmSensor::Status startSensor(float sec); |
masahikofukasawa | 0:56b554871e05 | 64 | virtual AkmSensor::Status stopSensor(); |
masahikofukasawa | 0:56b554871e05 | 65 | virtual AkmSensor::Status readSensorData(char* data); |
masahikofukasawa | 0:56b554871e05 | 66 | */ |
masahikofukasawa | 0:56b554871e05 | 67 | /** |
masahikofukasawa | 0:56b554871e05 | 68 | * begin |
masahikofukasawa | 0:56b554871e05 | 69 | * |
masahikofukasawa | 0:56b554871e05 | 70 | * @param *spi pointer to SPI instance |
masahikofukasawa | 0:56b554871e05 | 71 | * @param *cs pointer to DigitalOut instance for CS |
masahikofukasawa | 0:56b554871e05 | 72 | */ |
masahikofukasawa | 0:56b554871e05 | 73 | void begin(SPI *spi, DigitalOut *cs); |
masahikofukasawa | 0:56b554871e05 | 74 | |
masahikofukasawa | 0:56b554871e05 | 75 | /** |
masahikofukasawa | 0:56b554871e05 | 76 | * Check the connection. |
masahikofukasawa | 0:56b554871e05 | 77 | * |
masahikofukasawa | 0:56b554871e05 | 78 | * @note Connection check is performed by reading a register which has a fixed value and verify it. |
masahikofukasawa | 0:56b554871e05 | 79 | * |
masahikofukasawa | 0:56b554871e05 | 80 | * @return Returns SUCCESS when succeeded, otherwise returns another code. |
masahikofukasawa | 0:56b554871e05 | 81 | */ |
masahikofukasawa | 0:56b554871e05 | 82 | Status checkConnection(); |
masahikofukasawa | 0:56b554871e05 | 83 | |
masahikofukasawa | 0:56b554871e05 | 84 | /** |
masahikofukasawa | 0:56b554871e05 | 85 | * Writes data to EEPROM on the device. |
masahikofukasawa | 0:56b554871e05 | 86 | * @param address EEPROM address |
masahikofukasawa | 0:56b554871e05 | 87 | * @param data data to be written |
masahikofukasawa | 0:56b554871e05 | 88 | * @return Returns SUCCESS when succeeded, otherwise returns another. |
masahikofukasawa | 0:56b554871e05 | 89 | */ |
masahikofukasawa | 0:56b554871e05 | 90 | Status writeEEPROM(char address, const char *data); |
masahikofukasawa | 0:56b554871e05 | 91 | |
masahikofukasawa | 0:56b554871e05 | 92 | /** |
masahikofukasawa | 0:56b554871e05 | 93 | * Reads data from EEPROM on the device. |
masahikofukasawa | 0:56b554871e05 | 94 | * @param address EEPROM address |
masahikofukasawa | 0:56b554871e05 | 95 | * @param data data to read |
masahikofukasawa | 0:56b554871e05 | 96 | * @return Returns SUCCESS when succeeded, otherwise returns another. |
masahikofukasawa | 0:56b554871e05 | 97 | */ |
masahikofukasawa | 0:56b554871e05 | 98 | Status readEEPROM(char address, char *data); |
masahikofukasawa | 0:56b554871e05 | 99 | |
masahikofukasawa | 0:56b554871e05 | 100 | /** |
masahikofukasawa | 0:56b554871e05 | 101 | * Writes data to register on the device. |
masahikofukasawa | 0:56b554871e05 | 102 | * @param address register address |
masahikofukasawa | 0:56b554871e05 | 103 | * @param data data to be written |
masahikofukasawa | 0:56b554871e05 | 104 | * @return Returns SUCCESS when succeeded, otherwise returns another. |
masahikofukasawa | 0:56b554871e05 | 105 | */ |
masahikofukasawa | 0:56b554871e05 | 106 | Status writeRegister(char address, const char *data); |
masahikofukasawa | 0:56b554871e05 | 107 | |
masahikofukasawa | 0:56b554871e05 | 108 | /** |
masahikofukasawa | 0:56b554871e05 | 109 | * Reads data from register on the device. |
masahikofukasawa | 0:56b554871e05 | 110 | * @param address register address |
masahikofukasawa | 0:56b554871e05 | 111 | * @param data data to read |
masahikofukasawa | 0:56b554871e05 | 112 | * @return Returns SUCCESS when succeeded, otherwise returns another. |
masahikofukasawa | 0:56b554871e05 | 113 | */ |
masahikofukasawa | 0:56b554871e05 | 114 | Status readRegister(char address, char *data); |
masahikofukasawa | 0:56b554871e05 | 115 | |
masahikofukasawa | 0:56b554871e05 | 116 | /** |
masahikofukasawa | 0:56b554871e05 | 117 | * Sets device operation mode. |
masahikofukasawa | 0:56b554871e05 | 118 | * |
masahikofukasawa | 0:56b554871e05 | 119 | * @param mode device opration mode |
masahikofukasawa | 0:56b554871e05 | 120 | * |
masahikofukasawa | 0:56b554871e05 | 121 | * @return Returns SUCCESS when succeeded, otherwise returns another code. |
masahikofukasawa | 0:56b554871e05 | 122 | */ |
masahikofukasawa | 0:56b554871e05 | 123 | Status setOperationMode(OperationMode mode); |
masahikofukasawa | 0:56b554871e05 | 124 | |
masahikofukasawa | 0:56b554871e05 | 125 | /** |
masahikofukasawa | 0:56b554871e05 | 126 | * Reads angle data in [deg] from the device. |
masahikofukasawa | 0:56b554871e05 | 127 | * |
masahikofukasawa | 0:56b554871e05 | 128 | * @param angle Pointer |
masahikofukasawa | 0:56b554871e05 | 129 | * |
masahikofukasawa | 0:56b554871e05 | 130 | * @return Returns SUCCESS when succeeded, otherwise returns another code. |
masahikofukasawa | 0:56b554871e05 | 131 | */ |
masahikofukasawa | 0:56b554871e05 | 132 | Status readAngle(float *angle); |
masahikofukasawa | 0:56b554871e05 | 133 | |
masahikofukasawa | 0:56b554871e05 | 134 | /** |
masahikofukasawa | 0:56b554871e05 | 135 | * Reads angle data from the device. |
masahikofukasawa | 0:56b554871e05 | 136 | * |
masahikofukasawa | 0:56b554871e05 | 137 | * @param angle pointer to read angle data buffer |
masahikofukasawa | 0:56b554871e05 | 138 | * |
masahikofukasawa | 0:56b554871e05 | 139 | * @return Returns SUCCESS when succeeded, otherwise returns another code. |
masahikofukasawa | 0:56b554871e05 | 140 | */ |
masahikofukasawa | 0:56b554871e05 | 141 | Status readAngle(char *angle); |
masahikofukasawa | 0:56b554871e05 | 142 | |
masahikofukasawa | 0:56b554871e05 | 143 | /** |
masahikofukasawa | 0:56b554871e05 | 144 | * Measures and reads angle, magnetic flux density and abnormal state code while in the user mode. |
masahikofukasawa | 0:56b554871e05 | 145 | * |
masahikofukasawa | 0:56b554871e05 | 146 | * @param angle pointer to angle data buffer |
masahikofukasawa | 0:56b554871e05 | 147 | * @param density magnetic flux density |
masahikofukasawa | 0:56b554871e05 | 148 | * @param abnormal_state abnormal state |
masahikofukasawa | 0:56b554871e05 | 149 | * |
masahikofukasawa | 0:56b554871e05 | 150 | * @return Returns SUCCESS when succeeded, otherwise returns another code. |
masahikofukasawa | 0:56b554871e05 | 151 | */ |
masahikofukasawa | 0:56b554871e05 | 152 | Status readAngleMeasureCommand(char *angle, char *density, char *abnormal_state); |
masahikofukasawa | 0:56b554871e05 | 153 | |
masahikofukasawa | 0:56b554871e05 | 154 | /** |
masahikofukasawa | 0:56b554871e05 | 155 | * Measures current angle and sets the value to EEPROM as zero angle position. |
masahikofukasawa | 0:56b554871e05 | 156 | * |
masahikofukasawa | 0:56b554871e05 | 157 | * @return Returns SUCCESS when succeeded, otherwise returns another code. |
masahikofukasawa | 0:56b554871e05 | 158 | */ |
masahikofukasawa | 0:56b554871e05 | 159 | Status setAngleZero(); |
masahikofukasawa | 0:56b554871e05 | 160 | |
masahikofukasawa | 0:56b554871e05 | 161 | /** |
masahikofukasawa | 0:56b554871e05 | 162 | * Sets the value to EEPROM as zero angle position. |
masahikofukasawa | 0:56b554871e05 | 163 | * |
masahikofukasawa | 0:56b554871e05 | 164 | * @param angle zero angle position |
masahikofukasawa | 0:56b554871e05 | 165 | * |
masahikofukasawa | 0:56b554871e05 | 166 | * @return Returns SUCCESS when succeeded, otherwise returns another code. |
masahikofukasawa | 0:56b554871e05 | 167 | */ |
masahikofukasawa | 0:56b554871e05 | 168 | Status setAngleZero(const char *angle); |
masahikofukasawa | 0:56b554871e05 | 169 | |
masahikofukasawa | 0:56b554871e05 | 170 | /** |
masahikofukasawa | 0:56b554871e05 | 171 | * Sets the value to EEPROM as zero angle position. |
masahikofukasawa | 0:56b554871e05 | 172 | * |
masahikofukasawa | 0:56b554871e05 | 173 | * @param angle zero angle position in degree |
masahikofukasawa | 0:56b554871e05 | 174 | * |
masahikofukasawa | 0:56b554871e05 | 175 | * @return Returns SUCCESS when succeeded, otherwise returns another code. |
masahikofukasawa | 0:56b554871e05 | 176 | */ |
masahikofukasawa | 0:56b554871e05 | 177 | Status setAngleZero(const float angle); |
masahikofukasawa | 0:56b554871e05 | 178 | |
masahikofukasawa | 0:56b554871e05 | 179 | private: |
masahikofukasawa | 0:56b554871e05 | 180 | /** |
masahikofukasawa | 0:56b554871e05 | 181 | * Holds a pointer to an SPI object. |
masahikofukasawa | 0:56b554871e05 | 182 | */ |
masahikofukasawa | 0:56b554871e05 | 183 | SPI *_spi; |
masahikofukasawa | 0:56b554871e05 | 184 | |
masahikofukasawa | 0:56b554871e05 | 185 | /** |
masahikofukasawa | 0:56b554871e05 | 186 | * Holds a DigitalOut oblject for CS; |
masahikofukasawa | 0:56b554871e05 | 187 | */ |
masahikofukasawa | 0:56b554871e05 | 188 | DigitalOut *_cs; |
masahikofukasawa | 0:56b554871e05 | 189 | |
masahikofukasawa | 0:56b554871e05 | 190 | /** |
masahikofukasawa | 0:56b554871e05 | 191 | * Holds current mode |
masahikofukasawa | 0:56b554871e05 | 192 | */ |
masahikofukasawa | 0:56b554871e05 | 193 | OperationMode operationMode; |
masahikofukasawa | 0:56b554871e05 | 194 | |
masahikofukasawa | 0:56b554871e05 | 195 | /** |
masahikofukasawa | 0:56b554871e05 | 196 | * Reads data from device. |
masahikofukasawa | 0:56b554871e05 | 197 | * @param buf buffer to store the read data |
masahikofukasawa | 0:56b554871e05 | 198 | * @param length bytes to be read |
masahikofukasawa | 0:56b554871e05 | 199 | * @return Returns SUCCESS when succeeded, otherwise returns another. |
masahikofukasawa | 0:56b554871e05 | 200 | */ |
masahikofukasawa | 0:56b554871e05 | 201 | Status read(char operation_code, char address, char *data); |
masahikofukasawa | 0:56b554871e05 | 202 | |
masahikofukasawa | 0:56b554871e05 | 203 | /** |
masahikofukasawa | 0:56b554871e05 | 204 | * Writes data to the device. |
masahikofukasawa | 0:56b554871e05 | 205 | * @param data data to be written |
masahikofukasawa | 0:56b554871e05 | 206 | * @param length of the data |
masahikofukasawa | 0:56b554871e05 | 207 | * @return Returns SUCCESS when succeeded, otherwise returns another. |
masahikofukasawa | 0:56b554871e05 | 208 | */ |
masahikofukasawa | 0:56b554871e05 | 209 | Status write(char operation_code, char address, const char *data); |
masahikofukasawa | 0:56b554871e05 | 210 | |
masahikofukasawa | 0:56b554871e05 | 211 | /** |
masahikofukasawa | 0:56b554871e05 | 212 | * Checks parity bits sub function |
masahikofukasawa | 0:56b554871e05 | 213 | * @param data data 12bit read data |
masahikofukasawa | 0:56b554871e05 | 214 | * @param parity parity bit status |
masahikofukasawa | 0:56b554871e05 | 215 | * @param error error bit status |
masahikofukasawa | 0:56b554871e05 | 216 | * @return Returns SUCCESS when succeeded, otherwise returns another. |
masahikofukasawa | 0:56b554871e05 | 217 | */ |
masahikofukasawa | 0:56b554871e05 | 218 | Status parityCheckSub(const char data, const char parity, const char error); |
masahikofukasawa | 0:56b554871e05 | 219 | |
masahikofukasawa | 0:56b554871e05 | 220 | /** |
masahikofukasawa | 0:56b554871e05 | 221 | * Checks parity bits |
masahikofukasawa | 0:56b554871e05 | 222 | * @param data 2 byte read data to chek parity |
masahikofukasawa | 0:56b554871e05 | 223 | * @return Returns SUCCESS when succeeded, otherwise returns another. |
masahikofukasawa | 0:56b554871e05 | 224 | */ |
masahikofukasawa | 0:56b554871e05 | 225 | Status parityCheck(const char *data); |
masahikofukasawa | 0:56b554871e05 | 226 | }; |
masahikofukasawa | 0:56b554871e05 | 227 | |
masahikofukasawa | 0:56b554871e05 | 228 | #endif |